KR101193240B1 - Wheel module - Google Patents

Abstract

The present invention discloses a wheel module. The present invention is a wheel body, the wheel is installed, the actuator is inserted into the wheel body is driven, the torque sensor is installed on the wheel body and the actuator, the actuator and the wheel body is installed It includes a reducer for transmitting the driving force of the actuator to the wheel body.

Description

Wheel module

The present invention relates to a module, and more particularly to a wheel module.

In general, movable devices may include a wheel and a driving device for driving the wheel. In this case, the above devices can be variously driven by arranging the driving device on the outside of the wheel and then connecting the driving device and the wheel by complicated mechanical configurations. In particular, in the case of robots and other devices, the driving of the wheel through the driving device is an essential element, with the emphasis on mobility. Also, in recent years, such mechanisms are generally designed to overcome the limitation of space through miniaturization.

However, in many mechanisms as described above, when the wheel is driven through the driving device, it takes up a lot of space depending on the volume of the driving device or the installation position. Therefore, it is a very important problem to avoid the limitation of the installation position through the miniaturization of the driving device and to move the above mechanisms through the same torque.

On the other hand, when the driving force generated by the drive device is transmitted to the wheel, the difference in the magnitude of the torque generated from the drive device and the torque transmitted to the actual wheel is different so that the drive device is broken or the mechanical components connecting the drive device and the wheel are broken. Cases may occur. In addition, if the drive does not produce the actual torque required for the wheel, the movement of the mechanisms may be disturbed or unable to move. Therefore, it is very important to analyze the behavior between the drive and the actual wheel and to control the drive so that the wheel operates smoothly.

Embodiments of the present invention are to provide a wheel module that can be installed in a narrow space is possible precise control by controlling the actuator built-in torque sensor.

One aspect of the present invention, the wheel body portion, the actuator is inserted into the wheel body portion is driven, the wheel body portion is disposed between the wheel body and the actuator disposed between the wheel body and the actuator to wrap the wheel It is possible to provide a wheel module including an inner case disposed inside the body and a torque sensor installed in the inner case and the actuator.

The wheel body may include a body part having a space formed therein and opening at both ends thereof, a rotation shaft of the actuator inserted therein, and a first cover coupled to an opened part of one surface of the body part, The first cover may include a second cover disposed in a direction opposite to the cover and coupled to an open portion of the other surface of the body, and a portion of the inner case inserted therein.

The apparatus may further include a first bearing disposed between the wheel body portion and the inner case to contact the wheel body portion and the inner case.

In addition, the first bearing may be a sliding bearing.

In addition, the actuator may be provided with a brake disposed inside the actuator to limit the operation of the actuator.

In addition, it may further include a key holder coupled to the wheel body portion, the rotation shaft of the actuator is inserted and fixed.

In addition, the inner case, a fixed cover disposed through the wheel body portion,

A bearing cover coupled to the fixed cover and having an actuator disposed therein; a motor holder coupled to the bearing cover and having an actuator disposed therein; coupled to the motor holder and having a torque sensor installed therein; A sensor chamber and a torque sensor chamber cover coupled to the torque sensor chamber may be provided.

The controller may further include a controller disposed inside the wheel body and electrically connected to the torque sensor and the actuator to control the operation of the actuator based on the torque value measured by the torque sensor.

Embodiments of the present invention can be precisely controlled the actuator according to the external conditions by controlling the actuator with a built-in torque sensor. In addition, embodiments of the present invention can be miniaturized by inserting an actuator and a torque sensor in the interior of the wheel and can be easily applied to a narrow space.

1 is an exploded perspective view showing a wheel module according to an embodiment of the present invention.
FIG. 2 is an exploded perspective view showing the wheel body shown in FIG. 1.
3 is an exploded perspective view showing the inner case shown in FIG.
4 is an exploded perspective view showing the wheel module shown in FIG.

1 is an exploded perspective view showing a wheel module 100 according to an embodiment of the present invention.

Referring to FIG. 1, the wheel module 100 includes a wheel body 110. In this case, the wheel body unit 110 may be disposed to surround the outside of the wheel body cover 114.

On the other hand, the wheel module 100 includes an actuator 140 is inserted into the wheel body 110 and driven. At this time, the actuator 140 may be formed in various ways. In detail, the actuator 140 may include a motor.

The actuator 140 may include a rotation shaft 141 inserted into the motor. In this case, the rotation shaft 141 may protrude to the outside and rotate according to the driving of the actuator 140. The actuator 140 may include a brake (not shown) disposed inside the actuator 140. In this case, the brake may limit the rotation of the rotating shaft 141 by limiting the driving of the actuator 140.

In addition, the brake can be operated in various ways. For example, the brake may receive electricity from the outside to stop the rotation of the rotation shaft 141. In addition, the brake may receive a signal from the outside to stop the rotation of the rotary shaft 141 by rubbing the rotary shaft 141.

The actuator 140 may include a speed reducer (not shown) disposed inside the actuator 140. At this time, the reducer is formed in the form of a general reducer may amplify the torque of the motor (not shown) to be transmitted to the rotating shaft 141.

The wheel module 100 includes an inner case 130 disposed between the wheel body 110 and the actuator 140. In this case, the inner case 130 may be disposed inside the wheel body 110 to surround the actuator 140.

The wheel module 100 may include a first bearing 150 disposed between the wheel body 110 and the inner case 130. In this case, the first bearing 150 may contact the inner surface of the wheel body 110 and may contact the outer surface of the inner case 130. In addition, the first bearing 150 may include a sliding bearing. Accordingly, the first bearing 150 may move the wheel body 110 and the inner case 130 in different directions so that the wheel body 110 and the inner case 130 do not contact each other.

The wheel module 100 includes a torque sensor 120 installed in the inner case 130 and the actuator 140. In this case, one end of the torque sensor 120 may be fixed to the inner case 130 and the other end may be fixed to the actuator 140. Therefore, the torque sensor 120 may accurately measure the degree of twist of the inner case 130 and the actuator 140.

Meanwhile, the wheel module 100 may include a key holder 160 that is coupled to the wheel body 110. In this case, the key holder 160 may be fixed to the rotation shaft 141 is inserted. In addition, the key holder 160 may be inserted into and coupled to an external device (not shown). In particular, the key holder 160 may rotate together with the wheel body 110 according to the rotation of the rotation shaft 141.

The wheel module 100 may include a second bearing 180 disposed between one surface of the wheel body unit 110 and the inner case 130. In addition, the wheel module 100 may include a third bearing 190 disposed between the inner case 130 and the torque sensor 120.

The wheel module 100 may include a controller 170 disposed inside the wheel body 110. In this case, the controller 170 may be electrically connected to the torque sensor 120 and the actuator 140. In addition, the controller 170 may control the operation of the actuator 140 based on the torque value measured by the torque sensor 120. Therefore, the controller 170 may control the operation of the actuator 140 quickly and accurately according to the torque value measured by the torque sensor 120.

Meanwhile, hereinafter, the wheel body 110 and the inner case 130 will be described in detail.

2 is an exploded perspective view showing the wheel body 110 shown in FIG.

Referring to FIG. 2, the wheel body 110 may include a body 111 having a space formed therein. In this case, the body 111 may be formed so that both ends are open.

The wheel body 110 may include a first cover 112 into which the rotation shaft 141 is inserted. In this case, the first cover 112 may be coupled to an open portion of one surface of the body portion 111 to close one surface of the body portion 111.

In addition, the rotation shaft 141 may be inserted into the first cover 112. In this case, the first cover 112 may be coupled to the key holder 160. Accordingly, the first cover 112 may rotate together with the keyhold 160 in accordance with the rotation of the rotation shaft 141.

Meanwhile, the wheel body 110 may include a second cover 113 that is coupled to the body portion 111. In this case, the second cover 113 may be disposed opposite to the first cover 112 and may be coupled to an opened portion of the other surface of the body part 111. In addition, a portion of the inner case 130 may be inserted into the second cover 113. Specifically, the fixing cover 135 to be described later may be inserted.

3 is an exploded perspective view showing the inner case 130 shown in FIG.

Referring to FIG. 3, the inner case 130 may include a fixing cover 135 disposed through the wheel body 110. In detail, the fixing cover 135 may be disposed to penetrate the second cover 113 as described above.

Fixing cover 135 may be formed so that both ends are open. At this time, the fixing plate 136 may be coupled to one end of the fixing cover 135 to close one end of the fixing cover 135.

On the other hand, the inner case 130 may include a bearing cover 134 for coupling with the fixed cover 135, and a motor holder 133 for coupling with the bearing cover 134. In this case, the actuator 140 may be disposed to penetrate the bearing cover 134 and the motor holder 133.

Specifically, a hole is formed in the center portion of the bearing cover 134 and the motor holder 133 so that the actuator 140 may be disposed to be inserted into the hole. At this time, the actuator 140 may be disposed so as not to contact the bearing cover 134 and the motor holder 133.

On the other hand, the inner case 130 may be coupled to the motor holder 133, may include a torque sensor chamber 131, the torque sensor 120 is installed. In addition, the inner case 130 may include a torque sensor chamber cover 132 coupled with the torque sensor chamber 131.

Hereinafter, the coupling relationship between the wheel module 100 and the measuring method of the torque sensor 120 will be described in detail.

4 is an exploded perspective view showing the wheel module 100 shown in FIG.

Referring to FIG. 4, the torque sensor chamber cover 132 and the torque sensor chamber 131 may be disposed inside the body 111. In this case, the second bearing 180 may be disposed between the torque sensor chamber cover 132 and the body portion 111. The second bearing 180 may include a thrust needle bearing.

Meanwhile, the actuator 140 and the torque sensor 120 may be disposed in the torque sensor chamber cover 132 and the torque sensor chamber 131. In particular, one end of the torque sensor 120 may be coupled to the actuator 140 and the other end may be fixed to the torque sensor chamber 131. In this case, the control unit 170 may be installed inside the body 111.

Meanwhile, when the torque sensor 120 is disposed, the third bearing 190 may be disposed between the torque sensor chamber 131 and the torque sensor 120. In this case, the third bearing 190 may include a ball bearing.

When the arrangement is completed as described above, the torque sensor chamber cover 132 and the torque sensor chamber 131 may be fixed to each other by coupling. At this time, the first bearing 150 is disposed between the torque sensor chamber cover 132 and the torque sensor chamber 131 and the body portion 111 and the outer surface of the torque sensor chamber cover 132 and the torque sensor chamber 131. It may be in contact with the inner surface of the body 111.

On the other hand, the motor holder 133 may be disposed on one surface of the torque sensor chamber 131. At this time, the motor holder 133 may be fixed in combination with the torque sensor chamber 131. In addition, a bearing cover 134 is disposed at one side of the motor holder 133 and may be fixed to the motor holder 133 in combination.

In particular, the first bearing 150 may be disposed between the bearing cover 134 and the body portion 111. In this case, the first bearing 150 may be disposed to contact the inner surface of the body 111 and the outer surface of the bearing cover 134.

The fixed cover 135 may be disposed on one side of the bearing cover 134. At this time, the fixing cover 135 may be fixed to the bearing cover 134 in combination. In addition, the fixing plate 136 may be coupled to one end of the fixing cover 135 to close the fixing cover 135.

Meanwhile, the first cover 112 and the second cover 113 may be coupled to and fixed to the body 111. In this case, the rotation shaft 141 may be coupled to the first cover 112. In addition, the fixing cover 135 may be inserted into the second cover 113 such that the fixing cover 135 protrudes outward.

When the first cover 112 is assembled to the body portion 111, the key holder 160 may be coupled to and fixed to the first cover 112. In this case, a part of the rotation shaft 141 may be inserted into and fixed to the key holder 160.

On the other hand, the wheel module 100 assembled as described above may be rotated by the operation of the actuator 140. Specifically, when a signal is applied from the outside, the actuator 140 is operated.

In this case, while the rotation shaft 141 rotates, the key holder 160 and the first cover 112 may be rotated. In addition, the body 111 may be coupled with the first cover 112 to rotate together with the first cover 112. In particular, the second cover 113 may also rotate by the rotation of the body 111. At this time, when the wheel body 110 rotates, the external device coupled to the key holder 160 is moved.

On the other hand, when the wheel body 110 is rotated, the inner case 130 may not rotate. In detail, since the second cover 113 and the fixing cover 135 do not contact each other, the fixing cover 135 may not rotate while the second cover 113 rotates.

In addition, since the torque sensor chamber 131, the torque sensor chamber cover 132, and the bearing cover 134 are in contact with the first bearing 150, even when the wheel body 110 rotates, the motion of the wheel body 110 may be reduced. It may not rotate separately. In particular, the torque sensor chamber cover 132 is in contact with the first cover 112 and the second bearing 180, and thus may not be affected by the rotation of the first cover 112.

Therefore, the wheel module 100 may simply transmit the driving force generated by the actuator 140 to the wheel body 110 through the rotation shaft 141. In addition, the wheel module 100 can be miniaturized by inserting the actuator 140 into the wheel body 110, and can quickly generate sufficient torque necessary for the rotation of the wheel body 110.

On the other hand, while the wheel module 100 operates as described above, an external force may be applied to the wheel module 100 from the outside. In detail, when the wheel module 100 climbs up a hill, or when a situation such as an obstacle is caught, an external force may be applied to the wheel module 100. At this time, when the external force is applied to the wheel module 100, the output of the actuator 140 may not be completely transmitted to the wheel body 110.

For example, the force provided by the actuator 140 is F1, the force implemented in the wheel body 110 may be F2 less than F1. When the above situation occurs, the wheel body 110 does not smoothly rotate, the external device is unable to cross the hill or obstacles. In addition, when the above situation occurs, the rotation of the rotating shaft 141 and the wheel body 110 is different, the distortion of the actuator 140 and the inner case 130 occurs.

In this case, the torque sensor 120 may measure the degree of warpage between the actuator 140 and the inner case 130. The torque sensor 120 may measure the torque value generated in the above situation in order to measure the degree of distortion.

The torque sensor 120 may transmit the measured torque value to the controller 170. The controller 170 may control the actuator 140 based on the transmitted torque value. For example, the controller 170 may compare the torque value with a preset torque value. In this case, when it is determined that the torque value is smaller than the preset torque value, the controller 170 may maintain the operation of the actuator 140. On the other hand, if it is determined that the torque value is greater than the preset torque value, the controller 170 may control to increase the output of the actuator 140.

The method of controlling the actuator 140 based on the torque value as described above may be variously controlled without being limited to the above.

On the other hand, when the control unit 170 controls the actuator 140 on the basis of the torque value as described above, the wheel module 100 may output a sufficient output to cross the hill or obstacle. In particular, by calculating the required output through the torque sensor 120, accurate control of the output is possible through the control unit 170.

Therefore, the wheel module 100 can respond quickly and accurately according to an external situation through the torque sensor 120. In addition, the wheel module 100 may provide miniaturization and convenience by inserting the torque sensor 120 into the wheel body 110.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Various changes and modifications will be possible.

100: wheel module 133: motor holder
110: wheel body 134: bearing cover
111 body portion 135 fixing cover
112: first cover 136: fixing plate
113: second cover 140: actuator
120: torque sensor 150: first bearing
130: inner case 160: key hold
131: torque sensor room 170: control unit
132: torque sensor chamber cover 180: second bearing
190: third bearing

Claims (8)

Wheel body part,
An actuator inserted into the wheel body and driven to rotate the wheel body;
An inner case disposed between the wheel body portion and the actuator and disposed inside the wheel body portion to surround the actuator;
Wheel module including a torque sensor installed in the inner case and the actuator.
The method according to claim 1,
The wheel body portion,
A space formed inside and a body part formed to open at both ends;
A first cover inserted into the rotating shaft of the actuator and coupled to an opened portion of one surface of the body part;
And a second cover disposed in an opposite direction to the first cover and coupled to an open portion of the other surface of the body, and having a portion of the inner case inserted therein.
The method according to claim 1,
And a first bearing disposed between the wheel body portion and the inner case to contact the wheel body portion and the inner case.
The method according to claim 3,
The first bearing is a wheel module of the sliding bearing.
The method according to claim 1,
The actuator is,
Wheel module having a brake disposed inside the actuator to limit the operation of the actuator.
The method according to claim 1,
The wheel module coupled to the wheel body portion, and further comprising a key holder is fixed to the rotation axis of the actuator is inserted.
The method according to claim 1,
The inner case,
A fixed cover disposed through the wheel body;
A bearing cover coupled to the fixed cover and having the actuator disposed therein;
A motor holder coupled to the bearing cover and having the actuator disposed therein;
A torque sensor chamber coupled with the motor holder and provided with the torque sensor;
Wheel module having a torque sensor chamber cover coupled with the torque sensor chamber.
The method according to claim 1,
And a controller disposed in the wheel body and electrically connected to the torque sensor and the actuator to control the operation of the actuator based on the torque value measured by the torque sensor.

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